| Autor: |
Zi-Zhu Wang, Ching-Chih Tsai |
| Rok vydání: |
2011 |
| Předmět: |
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| Zdroj: |
Proceedings 2011 International Conference on System Science and Engineering. |
| Popis: |
This paper presents an intelligent adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic and dynamic levels. The FBFN is employed to on-line learn the uncertain parts of the tracking controller, thus achieving adaptive capability. Simulations results indicate that the proposed adaptive tracking controller is capable of providing satisfactory trajectory tracking performance. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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